CN109530948B - Tank welding robot - Google Patents
Tank welding robot Download PDFInfo
- Publication number
- CN109530948B CN109530948B CN201811467254.9A CN201811467254A CN109530948B CN 109530948 B CN109530948 B CN 109530948B CN 201811467254 A CN201811467254 A CN 201811467254A CN 109530948 B CN109530948 B CN 109530948B
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- axis
- supporting
- base
- tank body
- sliding table
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- 238000003466 welding Methods 0.000 title claims abstract description 88
- 238000009434 installation Methods 0.000 claims abstract description 21
- 230000009471 action Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- XBWAZCLHZCFCGK-UHFFFAOYSA-N 7-chloro-1-methyl-5-phenyl-3,4-dihydro-2h-1,4-benzodiazepin-1-ium;chloride Chemical compound [Cl-].C12=CC(Cl)=CC=C2[NH+](C)CCN=C1C1=CC=CC=C1 XBWAZCLHZCFCGK-UHFFFAOYSA-N 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Resistance Welding (AREA)
Abstract
A can welding robot comprises a base, wherein one end of the base is provided with a can supporting and driving assembly; the two sides of the base are provided with base guide rails, the other end of the base is provided with a tank body supporting component, the tank body supporting component comprises a supporting table bottom plate arranged on the base guide rails and a second supporting table arranged on the supporting table bottom plate, a second bearing seat is arranged on the second supporting table, and a second rotating shaft with a second three-jaw chuck is arranged in the second bearing seat; an X-axis beam is arranged on one side of the base, a welding assembly is arranged on the X-axis beam and comprises a top surface X-axis guide rail, the top surface X-axis guide rail is paved on the top surface of the X-axis beam, an X-axis rack is paved on the outer side surface of the X-axis beam, an L-shaped sliding plate cross arm is arranged on the top surface X-axis guide rail, an X-axis driving motor with an X-axis driving gear is arranged on the L-shaped sliding plate cross arm, a Z-axis electric sliding table is arranged on the L-shaped sliding plate, a welding gun installation seat is arranged on the sliding table sliding block, a position fine adjusting assembly is arranged on the welding gun installation seat, and a welding gun is arranged on the position fine adjusting assembly. The welding device is suitable for welding the tank body.
Description
Technical Field
The invention relates to the field of welding, in particular to a tank welding robot.
Background
At present, in the welding processing process of some tank bodies, automatic welding of a welding positioner is generally adopted for the circumferential seam welding of the tank bodies, and the automatic welding has greatly progressed in the aspect of solving the quality and efficiency of manual welding, but for some large tank bodies, the automatic welding of the circumferential seam and the straight seam is difficult to realize by adopting the welding positioner.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides a tank welding robot.
In order to achieve the above object, the tank welding robot provided by the invention comprises a base, wherein one end of the base is fixedly provided with a tank supporting and driving assembly, the tank supporting and driving assembly comprises a first supporting table fixedly arranged on the base, a three-jaw chuck driving motor is arranged in the first supporting table, a first bearing seat is arranged on the top surface of the first supporting table, a first rotating shaft is arranged in the first bearing seat, one end of the first rotating shaft is provided with a driving chain wheel, the driving chain wheel is in transmission connection with the output end of the three-jaw chuck driving motor through a driving chain, and the other end of the first rotating shaft is provided with a first three-jaw chuck;
The two sides of the base are respectively provided with a base guide rail, the other end of the base is slidably provided with a tank body supporting component through the base guide rails, the tank body supporting component comprises a supporting table bottom plate slidably arranged on the base guide rails and a second supporting table arranged on the supporting table bottom plate, the top surface of the second supporting table is provided with a second bearing seat, a second rotating shaft is arranged in the second bearing seat, and a second three-jaw chuck is arranged at one end of the second rotating shaft facing the first three-jaw chuck;
An X-axis beam is longitudinally arranged on one side of the base through an upright post, a welding assembly is slidably arranged on the X-axis beam, the welding assembly comprises a top surface X-axis guide rail, an L-shaped sliding plate, an X-axis driving motor, an X-axis driving gear, an X-axis rack, a Z-axis electric sliding table, a welding gun mounting seat, a position fine adjustment assembly and a welding gun, the top surface X-axis guide rail is longitudinally paved on the top surface of the X-axis beam, the X-axis rack is longitudinally paved on the outer side surface of the X-axis beam, the L-shaped sliding plate is transversely arranged, a cross arm of the L-shaped sliding plate is slidably arranged on the top surface X-axis guide rail, the X-axis driving motor is arranged at a position corresponding to the X-axis rack on the cross arm of the L-shaped sliding plate, the X-axis driving gear is meshed with the X-axis rack, a vertical arm of the L-shaped sliding plate is arranged towards a tank body, and the welding gun mounting seat fine adjustment assembly is arranged on the position fine adjustment assembly of the welding gun.
The two ends of the tank body are clamped through the two three-jaw chucks, the three-jaw chucks are driven by the three-jaw chuck driving motor to rotate, the tank body is driven by the three-jaw chucks to rotate, the welding in the circumferential direction of the tank body can be realized, meanwhile, the tank body can be welded axially by controlling the welding assembly to move on the X-axis beam, and the whole welding process is simple, convenient and high in efficiency.
In the above scheme, the middle part of base is passed through base guide rail slidable mounting has jar body transport subassembly, jar body transport subassembly includes the transport chassis, transport chassis slidable mounting is in on the base guide rail, be equipped with the transport lift universal wheel on the transport chassis, the top surface of transport chassis is equipped with jar body bracket. The tank body carrying assembly additionally arranged facilitates carrying of the tank body, so that the operation intensity of workers is reduced, and the efficiency is higher.
In the above scheme, the transport lift universal wheel includes the transport universal wheel body, be equipped with the transport installation screw rod on the top surface of transport universal wheel body, the transport universal wheel body passes through the transport installation screw rod cartridge is in on the transport chassis, the horizontal cartridge in top of transport installation screw rod has the transport action bars. The lifting structure of the carrying lifting universal wheel is combined with the universal wheel, so that the lifting and carrying of the carrying chassis are simply and conveniently realized.
In the above-mentioned scheme, the quantity of jar body bracket is 2, 2 jar body bracket parallel interval arrangement is in on the top surface of transport chassis, every jar body bracket includes two parallel interval arrangement's vertical support pole and an arc die-pin, the arc internal surface of arc die-pin cooperatees with the surface of jar body, the arc surface of arc die-pin links to each other with two the upper end of vertical support pole, two the lower extreme of vertical support pole is installed on the transport chassis, be equipped with the gasket on the arc internal surface of arc die-pin. The arc inner surface of the arc-shaped supporting rod is designed to be matched with the outer surface of the tank body, so that the damage to the tank body can be avoided, and the tank body is supported more firmly; the added gasket can further avoid damaging the tank body and can also play a role in skid resistance.
In the above scheme, all install jar body jack catch on the three jack catch of first three jaw chuck with the three jack catch of second three jaw chuck, jar body jack catch is L type structure, the internal surface of the chucking end of jar body jack catch is with jar body matched with arc structure. Through adding the jar body jack catch of establishing L type structure on three-jaw chuck to with jar body jack catch's chucking end's internal surface design into with jar body's surface matched with arc structure, made things convenient for the clamp of jar body like this and tightly press from both sides tightly more firmly.
In the scheme, the anti-slip gasket is arranged on the inner surface of the clamping end of the tank claw. The anti-slip gasket additionally arranged can enable the clamping jaw of the tank body to be clamped more firmly, and damage to the tank body can be avoided.
In the above scheme, install the support lift universal wheel on the supporting bench bottom plate, the support lift universal wheel is including supporting the universal wheel body, be equipped with on the top surface of supporting the universal wheel body and support the installation screw rod, it is in through to support the installation screw rod cartridge on the supporting bench bottom plate to support the universal wheel body, the top of supporting the installation screw rod transversely cartridge has the support action bars. The lifting structure for supporting the lifting universal wheels is combined with the universal wheels, so that the lifting and the movement of the bottom plate of the supporting table are simply and conveniently realized.
In the scheme, the vertical arm of the L-shaped sliding plate is downwards arranged, and a side X-axis guide rail is arranged between the vertical arm of the L-shaped sliding plate and the inner side surface of the X-axis cross beam. The added side X-axis guide rail can enable the sliding of the welding assembly to be stable and reliable.
In the scheme, an X-axis sliding seat is arranged on the top surface of the cross arm of the L-shaped sliding plate, and a wire feeding mechanism for feeding wires for the welding gun is arranged on the X-axis sliding seat. The X-axis sliding seat and the wire feeding mechanism are arranged on the top surface of the cross arm of the L-shaped sliding plate, so that the stress of the L-shaped sliding plate is more uniform, and the sliding of the welding assembly is smoother and more reliable.
In the above scheme, Z axle electric slipway includes slip table base, slip table motor, slip table lead screw, slip table guide rail and slip table slider, the slip table base is vertical to be installed on the vertical arm of L type slide, slip table motor fixed mounting is in on the slip table base, the slip table lead screw is installed along vertical autorotation on the slip table base, the slip table lead screw with the coaxial continuous of output shaft of slip table motor, one has been laid respectively to the both sides of slip table base the slip table guide rail, correspond slidable mounting respectively at two at the both ends of slip table slider on the slip table guide rail, just the slip table slider passes through the screw thread mode suit and is in on the slip table lead screw, welder mount pad is installed on the slip table slider.
The technical scheme provided by the invention has the beneficial effects that:
1. The two ends of the tank body are clamped through the two three-jaw chucks, the three-jaw chucks are driven by the three-jaw chuck driving motor to rotate, the tank body is driven by the three-jaw chucks to rotate, the circumferential welding of the tank body can be realized, meanwhile, the tank body can be welded axially by controlling the welding assembly to move on the X-axis beam, and the whole welding process is simple, convenient and high in efficiency;
2. The added tank body carrying assembly facilitates the carrying of the tank body, thereby reducing the operation intensity of workers and having higher efficiency;
3. The lifting structure of the carrying lifting universal wheel is combined with the universal wheel, so that the lifting and carrying of the carrying chassis are simply and conveniently realized;
4. The arc inner surface of the arc-shaped supporting rod is designed to be matched with the outer surface of the tank body, so that the damage to the tank body can be avoided, and the tank body is supported more firmly;
5. The added gasket can further avoid damaging the tank body and can also play a role in skid resistance;
6. The tank body clamping jaw with the L-shaped structure is additionally arranged on the three-jaw chuck, and the inner surface of the clamping end of the tank body clamping jaw is designed to be of an arc-shaped structure matched with the outer surface of the tank body, so that the clamping of the tank body is facilitated and the clamping is firmer;
7. the added anti-slip gasket can enable the clamping jaw of the tank body to be clamped more firmly, and damage to the tank body can be avoided;
8. the lifting structure for supporting the lifting universal wheels is combined with the universal wheels, so that the lifting and the movement of the bottom plate of the supporting table are simply and conveniently realized;
9. the added side X-axis guide rail can enable the sliding of the welding assembly to be stable and reliable;
10. the X-axis sliding seat and the wire feeding mechanism are arranged on the top surface of the cross arm of the L-shaped sliding plate, so that the stress of the L-shaped sliding plate is more uniform, and the sliding of the welding assembly is smoother and more reliable.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is another view angle schematic of FIG. 1;
FIG. 3 is a schematic side elevational view of FIG. 1;
FIG. 4 is a schematic structural view of a three-jaw chuck;
FIG. 5 is another view angle schematic of FIG. 4;
FIG. 6 is a schematic view of the configuration of the three-jaw chuck in use;
FIG. 7 is a schematic view of the structure of the Z-axis electric slipway;
FIG. 8 is a schematic diagram of the front view of FIG. 7;
FIG. 9 is a schematic rear view of the structure of FIG. 7;
fig. 10 is a schematic view of the bottom structure of fig. 7.
In the figure, a base 1, a base guide rail 1a, a tank supporting driving assembly 2, a first supporting table 2a, a first bearing block 2b, a driving sprocket 2c, a driving chain 2d, a first three-jaw chuck 2e, a tank supporting assembly 3, a supporting table bottom plate 3a, a second supporting table 3b, a second bearing block 3c, a second three-jaw chuck 3d, a supporting lifting universal wheel 3e, a supporting universal wheel body 3e1, a supporting mounting screw 3e2, a supporting operating rod 3e3, a stand column 4, an X-axis beam 5, a welding assembly 6, a top surface X-axis guide rail 6a, an L-axis slide plate 6b, an X-axis driving motor 6c, an X-axis driving gear 6d, an X-axis rack 6e, a Z-axis electric slide table 6f, the welding gun comprises a sliding table base 6f1, a sliding table motor 6f2, a sliding table screw rod 6f3, a sliding table guide rail 6f4, a sliding table sliding block 6f5, a welding gun mounting seat 6g, a position fine adjustment assembly 6h, a welding gun 6i, a side X-axis guide rail 6j, an X-axis sliding seat 6k, a wire feeding mechanism 6m, a tank body conveying assembly 7, a conveying chassis 7a, a conveying lifting universal wheel 7b, a conveying universal wheel body 7b1, a conveying mounting screw rod 7b2, a conveying operation rod 7b3, a tank body bracket 7c, a vertical supporting rod 7c1, an arc-shaped supporting rod 7c2, a tank body claw 8, a non-skid gasket 8a and a tank body a.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Example 1:
As shown in fig. 1, the tank welding robot provided in this embodiment includes a base 1, one end of the base 1 is fixedly provided with a tank supporting and driving assembly 2, the tank supporting and driving assembly 2 includes a first supporting table 2a fixedly installed on the base 1, a three-jaw chuck driving motor is installed in the first supporting table 2a, a first bearing seat 2b is provided on the top surface of the first supporting table 2a, a first rotating shaft is installed in the first bearing seat 2b, one end of the first rotating shaft is installed with a driving sprocket 2c, the driving sprocket 2c is in transmission connection with the output end of the three-jaw chuck driving motor through a driving chain 2d, and the other end of the first rotating shaft is installed with a first three-jaw chuck 2e; a base guide rail 1a is respectively arranged at two sides of the base 1, a tank body supporting component 3 is slidably arranged at the other end of the base 1 through the base guide rail 1a, the tank body supporting component 3 comprises a supporting table bottom plate 3a slidably arranged on the base guide rail 1a and a second supporting table 3b arranged on the supporting table bottom plate 3a, a second bearing seat 3c is arranged on the top surface of the second supporting table 3b, a second rotating shaft is arranged in the second bearing seat 3c, and a second third jaw chuck 3d is arranged at one end of the second rotating shaft facing the first third jaw chuck 2e; an X-axis cross beam 5 is longitudinally arranged on one side of the base 1 through an upright post 4, a welding assembly 6 is slidably arranged on the X-axis cross beam 5, the welding assembly 6 comprises a top surface X-axis guide rail 6a, an L-shaped sliding plate 6b, an X-axis driving motor 6c, an X-axis driving gear 6d, an X-axis rack 6e, a Z-axis electric sliding table 6f, a welding gun mounting seat 6g, a position fine adjusting component 6h and a welding gun 6i, the top surface X-axis guide rail 6a is longitudinally paved on the top surface of the X-axis cross beam 5, the X-axis rack 6e is longitudinally paved on the outer side surface of the X-axis cross beam 5, the L-shaped sliding plate 6b is transversely arranged, a transverse arm of the L-shaped sliding plate 6b is slidably arranged on the top surface X-axis guide rail 6a, the position of the transverse arm corresponding to the X-axis rack 6e is provided with the X-axis driving motor 6c, the X-axis driving gear 6d is arranged on an output shaft of the X-axis driving motor 6c, the X-axis driving gear 6d is longitudinally paved on the top surface X-axis guide rail 6e, the X-axis sliding table 6b is longitudinally arranged on the position fine adjusting component of the welding gun 6g, and the welding gun mounting seat 6g is arranged on the position of the Z-axis sliding table 6 b.
The specific structure of the position fine adjustment assembly 6h can be seen in chinese patent CN201611244557.5, which is not described herein. The supporting table bottom plate 3a is provided with a locking device at a position corresponding to the base guide rail 1a, the locking device is used for fixing the position of the tank supporting assembly 3, and the locking device can adopt a braking structure or a clamping limiting structure.
The two ends of the tank body a are clamped through the two three-jaw chucks, the three-jaw chucks are driven by the three-jaw chuck driving motor to rotate, the three-jaw chucks drive the tank body a to rotate, the welding of the circumferential direction of the tank body a can be achieved, meanwhile, the tank body a can be welded axially through controlling the welding assembly 6 to move on the X-axis beam 5, and the whole welding process is simple, convenient and high in efficiency.
The middle part of above-mentioned base 1 is passed through base guide rail 1a slidable mounting has jar body transport subassembly 7, jar body transport subassembly 7 includes transport chassis 7a, transport chassis 7a slidable mounting is in on the base guide rail 1a, be equipped with transport lift universal wheel 7b on the transport chassis 7a, the top surface of transport chassis 7a is equipped with jar body bracket 7c. The additionally arranged tank body carrying assembly 7 facilitates carrying of the tank body a, so that the operation intensity of workers is reduced, and the efficiency is higher. The carrying lifting universal wheel 7b comprises a carrying universal wheel body 7b1, a carrying installation screw rod 7b2 is arranged on the top surface of the carrying universal wheel body 7b1, the carrying universal wheel body 7b1 is inserted on the carrying chassis 7a through the carrying installation screw rod 7b2, and a carrying operation rod 7b3 is transversely inserted at the top end of the carrying installation screw rod 7b 2. The lifting structure for carrying the lifting universal wheel 7b is combined with the universal wheel, so that the lifting and carrying of the carrying chassis 7a are simply and conveniently realized.
The number of the tank body brackets 7c is 2, 2 tank body brackets 7c are arranged on the top surface of the carrying chassis 7a at intervals in parallel, each tank body bracket 7c comprises two vertical supporting rods 7c1 and an arc supporting rod 7c2 which are arranged at intervals in parallel, the arc inner surface of each arc supporting rod 7c2 is matched with the outer surface of the tank body a, the arc outer surface of each arc supporting rod 7c2 is connected with the upper ends of the two vertical supporting rods 7c1, the lower ends of the two vertical supporting rods 7c1 are arranged on the carrying chassis 7a, and gaskets are arranged on the arc inner surface of each arc supporting rod 7c 2. The arc inner surface of the arc-shaped supporting rod 7c2 is designed to be matched with the outer surface of the tank a, so that the tank a is prevented from being damaged, and the tank a is supported more firmly; the added gasket can further avoid damaging the tank body a, and can also play a role in skid resistance.
The three claws of the first three-claw chuck 2e and the three claws of the second three-claw chuck 3d are respectively provided with a tank claw 8, the tank claw 8 is of an L-shaped structure, and the inner surface of the clamping end of the tank claw 8 is of an arc-shaped structure matched with the outer surface of the tank a. Through adding the jar body jack catch 8 of establishing L type structure on three-jaw chuck to with jar body a's surface matched with arc structure is designed into to jar body jack catch 8's chucking end's internal surface, has made things convenient for the clamp of jar body a like this and has pressed from both sides tightly more firmly. An anti-slip gasket 8a is arranged on the inner surface of the clamping end of the tank claw 8. The additionally arranged anti-slip gaskets 8a can enable the clamping claws 8 of the tank body to be firmly clamped, and damage to the tank body a can be avoided.
The supporting platform bottom plate 3a is provided with the supporting lifting universal wheel 3e, the supporting lifting universal wheel 3e comprises a supporting universal wheel body 3e1, the top surface of the supporting universal wheel body 3e1 is provided with a supporting installation screw rod 3e2, the supporting universal wheel body 3e1 is inserted on the supporting platform bottom plate 3a through the supporting installation screw rod 3e2, and the top end of the supporting installation screw rod 3e2 is transversely inserted with a supporting operation rod 3e3. The lifting structure supporting the lifting universal wheel 3e is combined with the universal wheel, so that the lifting and the movement of the supporting platform bottom plate 3a are simply and conveniently realized.
The vertical arm of the L-shaped sliding plate 6b is downward, and a side surface X-axis guide rail 6j is arranged between the vertical arm of the L-shaped sliding plate 6b and the inner side surface of the X-axis cross beam 5. The added side X-axis guide rail 6j can enable the welding assembly 6 to slide more stably and reliably. An X-axis sliding seat 6k is arranged on the top surface of the cross arm of the L-shaped sliding plate 6b, and a wire feeding mechanism 6m for feeding wires for the welding gun 6i is arranged on the X-axis sliding seat 6 k. By disposing the X-axis slide 6k and the wire feeder 6m on the top surface of the cross arm of the L-shaped slide 6b, the force applied to the L-shaped slide 6b can be made more uniform, and the sliding of the welding assembly 6 can be made smoother and more reliable.
The Z-axis electric sliding table 6f comprises a sliding table base 6f1, a sliding table motor 6f2, a sliding table screw rod 6f3, sliding table guide rails 6f4 and sliding table sliding blocks 6f5, wherein the sliding table base 6f1 is vertically installed on a vertical arm of the L-shaped sliding plate 6b, the sliding table motor 6f2 is fixedly installed on the sliding table base 6f1, the sliding table screw rod 6f3 is longitudinally and rotatably installed on the sliding table base 6f1, the sliding table screw rod 6f3 is coaxially connected with an output shaft of the sliding table motor 6f2, two sides of the sliding table base 6f1 are respectively paved with one sliding table guide rail 6f4, two ends of each sliding table sliding block 6f5 are respectively correspondingly and slidably installed on the two sliding table guide rails 6f4, the sliding table sliding blocks 6f5 are sleeved on the sliding table screw rod 6f3 in a threaded mode, and the welding gun installation seat 6g is installed on the sliding table sliding blocks 6f 5.
According to the embodiment, the two ends of the tank body a are clamped through the two three-jaw chucks, the three-jaw chucks are driven by the three-jaw chuck driving motor to rotate, the three-jaw chucks drive the tank body a to rotate, so that the welding of the circumferential direction of the tank body a can be realized, and meanwhile, the tank body a can be welded axially by controlling the welding assembly 6 to move on the X-axis beam 5.
Meanwhile, the additionally arranged tank body carrying assembly 7 facilitates carrying of the tank body a, so that the operation intensity of workers is reduced, and the efficiency is higher; the lifting structure of the carrying lifting universal wheel 7b is combined with the universal wheel, so that the lifting and carrying of the carrying chassis 7a are simply and conveniently realized; the arc inner surface of the arc-shaped supporting rod 7c2 is designed to be matched with the outer surface of the tank a, so that the tank a is prevented from being damaged, and the tank a is supported more firmly; the added gasket can further avoid damaging the tank body a, and can also play a role in skid resistance.
In addition, in the embodiment, the tank body clamping jaw 8 with the L-shaped structure is additionally arranged on the three-jaw chuck, and the inner surface of the clamping end of the tank body clamping jaw 8 is designed to be of an arc-shaped structure matched with the outer surface of the tank body a, so that the clamping of the tank body a is facilitated and is firmer; the additionally arranged anti-slip gaskets 8a can enable the clamping claws 8 of the tank body to be firmly clamped, and damage to the tank body a can be avoided.
Finally, the lifting structure for supporting the lifting universal wheel 3e is combined with the universal wheel, so that the lifting and the movement of the supporting platform bottom plate 3a are simply and conveniently realized; the additionally arranged side X-axis guide rail 6j can enable the sliding of the welding assembly 6 to be stable and reliable; by disposing the X-axis slide 6k and the wire feeder 6m on the top surface of the cross arm of the L-shaped slide 6b, the force applied to the L-shaped slide 6b can be made more uniform, and the sliding of the welding assembly 6 can be made smoother and more reliable.
Example 2:
As shown in fig. 1, the welding method of the tank welding robot provided in this embodiment includes the following steps:
(1) Spot welding a tank body a1 and two tank bottoms a2 together to obtain a tank body a to be welded;
(2) Clamping the tank body a to be welded between the first three-jaw chuck 2e and the second three-jaw chuck 3 d;
(3) Adjusting the welding gun 6i to the joint position of the tank body a1 and one tank bottom a 2;
(4) Rotating the first three-jaw chuck 2e to drive the tank body a to be welded to rotate together, and completing welding between the tank body a1 and one tank bottom a2 by the welding gun 6 i;
(5) Rotating the first three-jaw chuck 2e to adjust the position of the seam on the can body a1 and adjust the position of the welding gun 6i so that the welding gun 6i is aligned with the seam on the can body a 1;
(6) The X-axis driving motor 6c drives the welding gun 6i to move along the X axis, so that the welding of the seam on the tank body a1 is completed;
(7) Adjusting the welding gun 6i to the joint position of the tank body a1 and the other tank bottom a 2;
(8) And rotating the first three-jaw chuck 2e to drive the tank body a to be welded to rotate together, and completing welding between the tank body a1 and the tank bottom a2 by the welding gun 6 i.
The embodiment further comprises the following steps:
(9) After the welding is completed, the carrying lifting universal wheel 7b is adjusted, the carrying lifting universal wheel 7b is enabled to fall to the ground, and the tank body bracket 7c is enabled to support the welded tank body a;
(10) Releasing the first three-jaw chuck 2e and the second three-jaw chuck 3d so that the welded can a is completely placed on the can bracket 7 c;
(11) The carrying lifting universal wheel 7b is adjusted again, so that the carrying chassis 7a falls on the base guide rail 1 a;
(12) Removing the tank support assembly 3 from the base rail 1a and moving the handling chassis 7a to the end of the base rail 1 a;
(13) The carrying lifting universal wheel 7b is adjusted, so that the carrying lifting universal wheel 7b falls to the ground, and the carrying chassis 7a is completely separated from the base guide rail 1a;
(14) And the welded tank a is moved to a required position by the carrying lifting universal wheel 7 b.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (6)
1. The tank body welding robot comprises a base (1), one end of the base (1) is fixedly provided with a tank body supporting and driving assembly (2), the tank body supporting and driving assembly (2) comprises a first supporting table (2 a) fixedly arranged on the base (1), a three-jaw chuck driving motor is arranged in the first supporting table (2 a), a first bearing seat (2 b) is arranged on the top surface of the first supporting table (2 a), a first rotating shaft is arranged in the first bearing seat (2 b), one end of the first rotating shaft is provided with a driving sprocket (2 c), the driving sprocket (2 c) is in transmission connection with the output end of the three-jaw chuck driving motor through a driving chain (2 d), the other end of the first rotating shaft is provided with a third jaw chuck (2 e),
The two sides of the base (1) are respectively provided with a base guide rail (1 a), the other end of the base (1) is provided with a tank body supporting component (3) through the base guide rails (1 a) in a sliding mode, the tank body supporting component (3) comprises a supporting table bottom plate (3 a) which is arranged on the base guide rails (1 a) in a sliding mode and a second supporting table (3 b) which is arranged on the supporting table bottom plate (3 a), the top surface of the second supporting table (3 b) is provided with a second bearing seat (3 c), a second rotating shaft is arranged in the second bearing seat (3 c), and a second third jaw chuck (3 d) is arranged at one end, facing the first third jaw chuck (2 e), of the second rotating shaft;
An X-axis beam (5) is longitudinally arranged on one side of the base (1) through an upright post (4), a welding assembly (6) is slidingly arranged on the X-axis beam (5), the welding assembly (6) comprises a top surface X-axis guide rail (6 a), an L-shaped sliding plate (6 b), an X-axis driving motor (6 c), an X-axis driving gear (6 d), an X-axis rack (6 e), a Z-axis electric sliding table (6 f), a welding gun mounting seat (6 g), a position fine adjusting component (6 h) and a welding gun (6 i), the top surface X-axis guide rail (6 a) is longitudinally paved on the top surface of the X-axis beam (5), an X-axis rack (6 e) is longitudinally paved on the outer side surface of the X-axis beam (5), the L-shaped sliding plate (6 b) is transversely arranged, a cross arm of the L-shaped sliding plate (6 b) is slidingly arranged on the top surface X-axis guide rail (6 a), the X-axis rack (6 c) is correspondingly arranged at the position of the X-axis driving motor (6 e), the X-axis rack (6 c) is arranged on the cross arm of the L-shaped sliding plate (6 b), the X-axis driving gear (6 c) is meshed with the X-axis rack (6 d), the vertical arm of the L-shaped sliding plate (6 b) is provided with the Z-axis electric sliding table (6 f), a sliding table sliding block of the Z-axis electric sliding table (6 f) is provided with the welding gun mounting seat (6 g), the welding gun mounting seat (6 g) is provided with the position fine adjusting component (6 h), and the position fine adjusting component (6 h) is provided with the welding gun (6 i);
The middle part of the base (1) is slidably provided with a tank body conveying assembly (7) through the base guide rail (1 a), the tank body conveying assembly (7) comprises a conveying chassis (7 a), the conveying chassis (7 a) is slidably arranged on the base guide rail (1 a), the conveying chassis (7 a) is provided with a conveying lifting universal wheel (7 b), and the top surface of the conveying chassis (7 a) is provided with a tank body bracket (7 c);
The carrying lifting universal wheel (7 b) comprises a carrying universal wheel body (7 b 1), a carrying installation screw rod (7 b 2) is arranged on the top surface of the carrying universal wheel body (7 b 1), the carrying universal wheel body (7 b 1) is inserted on the carrying chassis (7 a) through the carrying installation screw rod (7 b 2), and a carrying operation rod (7 b 3) is transversely inserted at the top end of the carrying installation screw rod (7 b 2);
The number of the tank body brackets (7 c) is 2, 2 tank body brackets (7 c) are arranged on the top surface of the carrying chassis (7 a) at intervals in parallel, each tank body bracket (7 c) comprises two vertical supporting rods (7 c 1) and an arc supporting rod (7 c 2) which are arranged at intervals in parallel, the arc inner surface of each arc supporting rod (7 c 2) is matched with the outer surface of the tank body (a), the arc outer surface of each arc supporting rod (7 c 2) is connected with the upper ends of the two vertical supporting rods (7 c 1), the lower ends of the two vertical supporting rods (7 c 1) are arranged on the carrying chassis (7 a), and gaskets are arranged on the arc inner surfaces of the arc supporting rods (7 c 2);
support lift universal wheel (3 e) are installed on supporting bench bottom plate (3 a), support lift universal wheel (3 e) are including supporting universal wheel body (3 e 1), be equipped with on the top surface of supporting universal wheel body (3 e 1) and support installation screw rod (3 e 2), support universal wheel body (3 e 1) pass through support installation screw rod (3 e 2) cartridge is in on supporting bench bottom plate (3 a), the top of supporting installation screw rod (3 e 2) transversely cartridge has support action bars (3 e 3).
2. A tank welding robot as claimed in claim 1, wherein the three jaws of the first three-jaw chuck (2 e) and the three jaws of the second three-jaw chuck (3 d) are each provided with a tank jaw (8), the tank jaw (8) has an L-shaped structure, and the inner surface of the clamping end of the tank jaw (8) has an arc-shaped structure matched with the outer surface of the tank (a).
3. A can welding robot as claimed in claim 2, wherein the inner surface of the gripping end of the can jaw (8) is provided with anti-slip pads (8 a).
4. A tank welding robot as claimed in claim 1, characterized in that the vertical arm of the L-shaped slide plate (6 b) is arranged downwards, and a lateral X-axis guide rail (6 j) is arranged between the vertical arm of the L-shaped slide plate (6 b) and the inner lateral surface of the X-axis beam (5).
5. A can welding robot as claimed in claim 1, wherein an X-axis slide (6 k) is mounted on the top of the cross arm of the L-shaped slide (6 b), and a wire feeder (6 m) for feeding the welding gun (6 i) is mounted on the X-axis slide (6 k).
6. The welding robot for the tank body according to claim 1, wherein the Z-axis electric sliding table (6 f) comprises a sliding table base (6 f 1), a sliding table motor (6 f 2), a sliding table screw rod (6 f 3), sliding table guide rails (6 f 4) and sliding table sliding blocks (6 f 5), the sliding table base (6 f 1) is vertically installed on a vertical arm of the L-shaped sliding table (6 b), the sliding table motor (6 f 2) is fixedly installed on the sliding table base (6 f 1), the sliding table screw rod (6 f 3) is longitudinally and rotatably installed on the sliding table base (6 f 1), the sliding table screw rod (6 f 3) is coaxially connected with an output shaft of the sliding table motor (6 f 2), two sides of the sliding table base (6 f 1) are respectively paved with one sliding table guide rail (6 f 4), two ends of the sliding table sliding blocks (6 f 5) are respectively correspondingly installed on the two sliding table guide rails (6 f 4), and the sliding table sliding blocks (6 f 5) are installed on the sliding table base (6 f 5) in a threaded manner.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811467254.9A CN109530948B (en) | 2018-12-03 | 2018-12-03 | Tank welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811467254.9A CN109530948B (en) | 2018-12-03 | 2018-12-03 | Tank welding robot |
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| CN109530948A CN109530948A (en) | 2019-03-29 |
| CN109530948B true CN109530948B (en) | 2024-05-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110641159B (en) * | 2019-08-30 | 2020-06-16 | 南京理工军邦特种智能装备研究院有限公司 | Automatic marking detection robot for brake disc and marking and detection method thereof |
| CN113146118A (en) * | 2021-03-25 | 2021-07-23 | 洛阳尚奇机器人科技有限公司 | Automatic welding module and heat exchanger welding equipment |
| CN115570287B (en) * | 2022-09-08 | 2023-06-06 | 浙江创宏激光科技有限公司 | Laser welding device |
| CN115255747A (en) * | 2022-09-27 | 2022-11-01 | 江苏旭阳化工设备有限公司 | Chemical industry reation kettle casing welding mechanism |
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